• KIISE Transactions on Computing Practices
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• v.23 no.10
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• pp.588-593
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• 2017

In this paper, we propose a LiDAR driver that virtualizes multiple inexpensive LiDARs (Light Detection and Ranging) with a smaller number of scan channels on an autonomous vehicle to replace a single expensive LiDAR with a larger number of scan channels. As a result, existing SLAM (Simultaneous Localization And Mapping) algorithms can be used with no modifications developed assuming a single LiDAR. In the paper, the proposed driver was implemented on the Robot Operating System and was evaluated with an existing SLAM algorithm. The results show that the proposed driver, combined with a filter to control the density of points in a 3D map, is compatible with the existing algorithm.

• Journal of the Korea Society of Computer and Information
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• v.19 no.9
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• pp.1-10
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• 2014

In this paper, we propose MPI gridding algorithm of LiDAR data that minimizes the communication between the cores. The LiDAR data collected from aircraft is a 3D spatial information which is used in various applications. Since there are many cases where the LiDAR data has too high resolution than actually required or non-surface information is included in the data, filtering the raw LiDAR data is required. In order to use the filtered data, the interpolation using the data structure to search adjacent locations is conducted to reconstruct the data. Since the processing time of LiDAR data is directly proportional to the size of it, there have been many studies on the high performance parallel processing system using MPI. However, previously proposed methods in parallel approach possess possible performance degradations such as imbalanced data size among cores or communication overhead for resolving boundary condition inconsistency. We conduct empirical experiments to verify the effectiveness of our proposed algorithm. The results show that the total execution time of the proposed method decreased up to 4.2 times than that of the conventional method on heterogeneous clusters.

• Land and Housing Review
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• v.3 no.1
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• pp.15-22
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• 2012

The purpose of this research was to propose housing estate planning that applies 3D spatial information to DAS housing estate planning program and to enhance applicability of 3D spatial analysis. In addition, this research evaluated the applicability of 3D spatial information to site planning of Korea Land and Housing Corporation and developed models for the purpose of applying the spatial information efficiently. Moreover, we tested applicability of LiDAR that can allow 3D spatial information to be more efficient and accurate. The results from cross section analysis implies that LiDAR has higher usability than existing geographic information. Additionally, this study shaded light on the suggested system development model that can simulate location or height of an apartment house by spatially analyzing difference between before-and-after site development.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.79-82
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• 2005

Recently the necessity of road data is still being increased in industrial society, so there are many repairing and new constructions of roads at many areas. According to the development of government, city and region, the update and acquisition of road data for GIS (Geographical Information System) is very necessary. In this study, the fusion method with range data(3D Ground Coordinate System Data) and Intensity data in stand alone LiDAR data is used for road extraction and then digital image processing method is applicable. Up to date Intensity data of LiDAR is being studied. This study shows the possibility method for road extraction using Intensity data. Intensity and Range data are acquired at the same time. Therefore LiDAR does not have problems of multi-sensor data fusion method. Also the advantage of intensity data is already geocoded, same scale of real world and can make ortho-photo. Lastly, analysis of quantitative and quality is showed with extracted road image which compare with I: 1,000 digital map.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.

• Journal of Environmental Impact Assessment
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• v.17 no.5
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• pp.279-288
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• 2008

Vertical forest distribution is one of the important factors to understand various ecological mechanism such as succession, disturbance and environmental effects. LiDAR data provide information, both the horizontal and vertical distribution of forest structure. The laser scanner survey provided a point cloud, in which the x, y, and z coordinates of the points are known. The objectives of this study were 1) to analyze factors of forest structure such as individual tree isolation, tree height, canopy closure and tree density using LiDAR data and 2) to compare the forest structure between outer and interior forest. The paper conducted to extract the individual tree using watershed algorithm and to interpolate using the first return of LiDAR data for yielding digital surface model (DSM). The results of the study show characters of edge such as more isolated individual trees, higher density, lower canopy closure, and lower tree height than those of interior forest. LiDAR data is to be useful for analyzing of forest structure. Further study should be undertaken with species for more accurate results.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.5
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• pp.389-397
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• 2006

The purpose of the present paper is to offer an analysis of LiDAR data processing and three dimensional terrain for Geographic Information System (CIS) applications. Generally, LiDAR survey is the method which obtains quantitative and qualitative information of the terrain using airborne laser scanning (ALS). We will get a most topographic data at a Triangular Irregular Network (TIN), Digital Surface Model (DSM) and Digital Elevation Model (DEM) using LiDAR data. We examined many factors such as visibility, hillshade, aspect and slope using DEM and DSM. The analyzing results obtained from each item are thought to be regarded as leading factors in the terrain analysis. It is to be hoped that LiDAR survey will contribute a new approach to the terrain analysis.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.267-274
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• 2023

LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, is used to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the driving surface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity information to classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationale for using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errors in the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into different groups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoor driving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate the maximum width that could be crossed for a given vehicle body size and wheel radius.

• Tunnel and Underground Space
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• v.31 no.1
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• pp.10-24
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• 2021

Rock mass classification for construction of underground facilities is essential to secure their stabilities. Therefore, the reliable values for rock mass classification from the precise information on rock discontinuities are most important factors, because rock mass discontinuities can affect exclusively on the physical and mechanical properties of rock mass. The conventional classification operation for rock mass has been usually performed by hand mapping. However, there have been many issues for its precision and reliability; for instance, in large-scale survey area for regional geological survey, or rock mass classification operation by non-professional engineers. For these reasons, automated rock mass classification using LiDAR becomes popular for obtaining the quick and precise information. But there are several suggested algorithms for analyzing the rock mass discontinuities from point cloud data by LiDAR scanning, and it is known that the different algorithm gives usually different solution. Also, it is not simple to obtain the exact same value to hand mapping. In this paper, several discontinuity extract algorithms have been explained, and their processes for extracting rock mass discontinuities have been simulated for real rock bench. The application process for several algorithms is anticipated to be a good reference for future researches on extracting rock mass discontinuities from digital point cloud data by laser scanner, such as LiDAR.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.15-26
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• 2004

The calibration for systematic error in LiDAR is crucial for the accuracy of airborne laser scanning. The main error is the misalignment of platforms between INS(Inertial Navigation System) and Laser scanner For planimetrical calibration of LiDAR, the building is good feature which has great changes in height and continuous flat area in the top. The planimetry error(pitch, roll) is corrected by adjustment of height which is calculated from comparing ground control points(GCP) of building to laser scanning data. We can know scale correction of laser range by the comparison of LiDAR data and GCP is arranged at the end of scan angle where maximize the height error. The area for scale calibration have to be large flat and have almost same elevation. At 1000m for average flying height, The Accuracy of laser scanning data using LiDAR is within 110cm in height and ${\pm}$50cm in planmetry so we can use laser scanning data for generating 3D terrain surface, expecically digital surface model(DSM) which is difficult to measure by aerial photogrammetry in forest, coast, urban area of high buildings